Fixed ur_robotiq_control.launch.py error

added ur_robotiq_servo

Dockerfile

@@ -6,7 +6,9 @@ RUN apt-get update && apt-get install -y \
     python3-colcon-common-extensions python3-pip \
     ros-humble-xacro \
     ros-humble-hardware-interface \
-    ros-humble-controller-interface
+    ros-humble-controller-interface \
+    ros-humble-joy \
+    ros-humble-teleop-twist-joy
 
 COPY requirements.txt ./
 RUN pip install --no-cache-dir -r requirements.txt
@@ -32,4 +34,5 @@ RUN echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc
 ENV PATH="/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/opt/ros/humble/bin"
 
 # Source the workspace
+RUN echo "source install/setup.bash" >> /root/.bashrc
 CMD ["/bin/bash"]

README.md

@@ -32,13 +32,41 @@ To download this repository and all of its included submodules, follow these ste
       cd UR-Robotiq 
      ```
 
-   * When using the "ur_robotiq.urdf" file first run
-     ```bash
-     cd /ros2_ws/src/ur_robotiq_description/urdf
-     ros2 run xacro xacro ur_robotiq.urdf.xacro > ur_robotiq.urdf
-     ```
    * Run the following command to start the Docker Compose:
        ```bash 
-       docker-compose up -d 
+       docker compose up -d 
+       ```
+   * Give X11 permission to accept the stream of the container window:
+     ```bash
+     xhost +
+     ```
+   * Get the name of the container:
+      ```bash
+     docker ps
+     ```
+   * Access the terminal of the docker container
+     ```bash
+     docker exec -it <name of docker container> /bin/bash
      ```
      
+## Working with UR + Robotiq
+In general you need to start up the UR Robotiq Controller,
+here the *robot_ip* has to be defined and if you want to start up the real robot or use fake hardware and if you want to launch rviz!
+```bash
+ros2 launch ur_robotiq_description ur_robotiq_control.launch.py robot_ip:=aaa.bbb.ccc.ddd use_fake_hardware:=<true/false(default)> launch_rviz:=<true/false(default)>
+```
+
+In addition you can start up the moveit interface:
+```bash
+ros2 launch ur_robotiq_moveit_config ur_robotiq_moveit.launch.py use_fake_hardware:=<true/false(default)>
+```
+
+### use_fake_hardware:=true
+Terminal 1.:
+```bash
+ros2 launch ur_robotiq_description ur_robotiq_control.launch.py robot_ip:=aaa.bbb.ccc.ddd use_fake_hardware:=true launch_rviz:=false
+```
+Terminal 2.:
+```bash
+ros2 launch ur_robotiq_moveit_config ur_robotiq_moveit.launch.py use_fake_hardware:=true
+```

docker-compose.yaml

@@ -13,6 +13,7 @@ services:
       - DISPLAY=$DISPLAY
     devices:
       - /dev/dri:/dev/dri
+      - /dev/input:/dev/input
 
 networks:
   ros_network:

src/ur_robotiq_description/launch/ur_robotiq_control.launch.py

@@ -191,7 +191,11 @@ def launch_setup(context, *args, **kwargs):
     control_node = Node(
         package="controller_manager",
         executable="ros2_control_node",
-        parameters=[robot_description, update_rate_config_file, initial_joint_controllers],
+        parameters=[
+            robot_description,
+            update_rate_config_file,
+            ParameterFile(initial_joint_controllers, allow_substs=True),
+        ],
         output="screen",
         condition=IfCondition(use_fake_hardware),
     )
@@ -199,7 +203,11 @@ def launch_setup(context, *args, **kwargs):
     ur_control_node = Node(
         package="ur_robot_driver",
         executable="ur_ros2_control_node",
-        parameters=[robot_description, update_rate_config_file, initial_joint_controllers],
+        parameters=[
+            robot_description,
+            update_rate_config_file,
+            ParameterFile(initial_joint_controllers, allow_substs=True),
+        ],
         output="screen",
         condition=UnlessCondition(use_fake_hardware),
     )
@@ -282,55 +290,58 @@ def launch_setup(context, *args, **kwargs):
         arguments=["-d", rviz_config_file],
     )
 
-    joint_state_broadcaster_spawner = Node(
+    # Spawn controllers
-        package="controller_manager",
+    def controller_spawner(name, active=True):
-        executable="spawner",
+        inactive_flags = ["--inactive"] if not active else []
-        arguments=["joint_state_broadcaster", "--controller-manager", "/controller_manager"],
+        return Node(
-    )
-
-    io_and_status_controller_spawner = Node(
-        package="controller_manager",
-        executable="spawner",
-        arguments=["io_and_status_controller", "-c", "/controller_manager"],
-    )
-
-    speed_scaling_state_broadcaster_spawner = Node(
             package="controller_manager",
             executable="spawner",
             arguments=[
+                name,
+                "--controller-manager",
+                "/controller_manager",
+                "--controller-manager-timeout",
+                controller_spawner_timeout,
+            ]
+            + inactive_flags,
+        )
+
+    controller_spawner_names = [
+        "joint_state_broadcaster",
+        "io_and_status_controller",
         "speed_scaling_state_broadcaster",
-            "--controller-manager",
-            "/controller_manager",
-        ],
-    )
-
-    force_torque_sensor_broadcaster_spawner = Node(
-        package="controller_manager",
-        executable="spawner",
-        arguments=[
         "force_torque_sensor_broadcaster",
-            "--controller-manager",
+    ]
-            "/controller_manager",
+    controller_spawner_inactive_names = ["forward_position_controller"]
-        ],
-    )
 
-    forward_position_controller_spawner_stopped = Node(
+    controller_spawners = [controller_spawner(name) for name in controller_spawner_names] + [
-        package="controller_manager",
+        controller_spawner(name, active=False) for name in controller_spawner_inactive_names
-        executable="spawner",
+    ]
-        arguments=["forward_position_controller", "-c", "/controller_manager", "--stopped"],
-    )
 
     # There may be other controllers of the joints, but this is the initially-started one
     initial_joint_controller_spawner_started = Node(
         package="controller_manager",
         executable="spawner",
-        arguments=[initial_joint_controller, "-c", "/controller_manager"],
+        arguments=[
+            initial_joint_controller,
+            "-c",
+            "/controller_manager",
+            "--controller-manager-timeout",
+            controller_spawner_timeout,
+        ],
         condition=IfCondition(activate_joint_controller),
     )
     initial_joint_controller_spawner_stopped = Node(
         package="controller_manager",
         executable="spawner",
-        arguments=[initial_joint_controller, "-c", "/controller_manager", "--stopped"],
+        arguments=[
+            initial_joint_controller,
+            "-c",
+            "/controller_manager",
+            "--controller-manager-timeout",
+            controller_spawner_timeout,
+            "--inactive",
+        ],
         condition=UnlessCondition(activate_joint_controller),
     )
 
@@ -344,14 +355,9 @@ def launch_setup(context, *args, **kwargs):
         controller_stopper_node,
         robot_state_publisher_node,
         rviz_node,
-        joint_state_broadcaster_spawner,
-        io_and_status_controller_spawner,
-        speed_scaling_state_broadcaster_spawner,
-        force_torque_sensor_broadcaster_spawner,
-        forward_position_controller_spawner_stopped,
         initial_joint_controller_spawner_stopped,
         initial_joint_controller_spawner_started,
-    ]
+    ] + controller_spawners
 
     return nodes_to_start
 

src/ur_robotiq_servo/package.xml

@@ -0,0 +1,25 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>ur_robotiq_servo</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="nikolaus.feith@unileoben.ac.at">niko</maintainer>
+  <license>TODO: License declaration</license>
+
+  <depend>rclpy</depend>
+  <depend>sensor_msgs</depend>
+  <depend>geometry_msgs</depend>
+  <depend>std_msgs</depend>
+  <depend>joy</depend>
+  <depend>moveit_servo</depend>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

src/ur_robotiq_servo/setup.cfg

@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/ur_robotiq_servo
+[install]
+install_scripts=$base/lib/ur_robotiq_servo

src/ur_robotiq_servo/setup.py

@@ -0,0 +1,25 @@
+from setuptools import find_packages, setup
+
+package_name = 'ur_robotiq_servo'
+
+setup(
+    name=package_name,
+    version='0.0.0',
+    packages=find_packages(exclude=['test']),
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='niko',
+    maintainer_email='nikolaus.feith@unileoben.ac.at',
+    description='TODO: Package description',
+    license='TODO: License declaration',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+        ],
+    },
+)

src/ur_robotiq_servo/test/test_copyright.py

@@ -0,0 +1,25 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_copyright.main import main
+import pytest
+
+
+# Remove the `skip` decorator once the source file(s) have a copyright header
+@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.')
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found errors'

src/ur_robotiq_servo/test/test_flake8.py

@@ -0,0 +1,25 @@
+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_flake8.main import main_with_errors
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+    rc, errors = main_with_errors(argv=[])
+    assert rc == 0, \
+        'Found %d code style errors / warnings:\n' % len(errors) + \
+        '\n'.join(errors)

src/ur_robotiq_servo/test/test_pep257.py

@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_pep257.main import main
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.pep257
+def test_pep257():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found code style errors / warnings'